Adaptive 'PD+' control of rigid robot manipulators

H. Berghuis; P. Löhnberg; H. Nijmeijer

doi:10.1016/B978-0-08-041276-4.50031-5

Adaptive 'PD+' control of rigid robot manipulators

H. Berghuis, P. Löhnberg, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

Two adaptive trajectory tracking controllers for rigid robot manipulators are presented. These controllers are characterized by three parts, a linear PD part, a nonlinear PD part, and a nonlinear model based part. Asymptotic trajectory tracking can be guaranteed for the closed loop system under quite general conditions on the linear controller gains. Both controllers have the property that they reduce to gravitation compensation and PD control in the particular case of position control. An interesting consequence of this property is that the presented controllers are robust to noise on the velocity measurements, which usually causes parameter drift. This feature of the controllers is demonstrated in a simulation study of a two DOF robot system, in which it is also shown that a well-known adaptive tracking controller from literature suffers from this parameter drift.

Original language	English
Title of host publication	Robot Control 1991
Subtitle of host publication	Selected Papers from the 3rd IFAC/IFIP/IMACS Symposium, Vienna, Austria, 16–18 September 1991
Publisher	International Federation of Automatic Control
Pages	459-464
Number of pages	6
ISBN (Print)	978-0-08-041276-4
DOIs	https://doi.org/10.1016/B978-0-08-041276-4.50031-5
Publication status	Published - 16 Sept 1991
Event	3rd IFAC Symposium on Robot Control, SYROCO 1991 - Vienna, Austria Duration: 16 Sept 1991 → 18 Sept 1991 Conference number: 3

Publication series

Name	IFAC Symposia Series
Publisher	IFAC

Conference

Conference	3rd IFAC Symposium on Robot Control, SYROCO 1991
Abbreviated title	SYROCO
Country/Territory	Austria
City	Vienna
Period	16/09/91 → 18/09/91

Keywords

n/a OA procedure

Access to Document

10.1016/B978-0-08-041276-4.50031-5

1 Report

Adaptive 'PD+' control of rigid robot manipulators
Berghuis, H., Lohnberg, P. & Nijmeijer, H., 1991, Enschede: University of Twente. 8 p. (Memorandum ; no. 985)
Research output: Book/Report › Report › Professional

Cite this

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title = "Adaptive 'PD+' control of rigid robot manipulators",

abstract = "Two adaptive trajectory tracking controllers for rigid robot manipulators are presented. These controllers are characterized by three parts, a linear PD part, a nonlinear PD part, and a nonlinear model based part. Asymptotic trajectory tracking can be guaranteed for the closed loop system under quite general conditions on the linear controller gains. Both controllers have the property that they reduce to gravitation compensation and PD control in the particular case of position control. An interesting consequence of this property is that the presented controllers are robust to noise on the velocity measurements, which usually causes parameter drift. This feature of the controllers is demonstrated in a simulation study of a two DOF robot system, in which it is also shown that a well-known adaptive tracking controller from literature suffers from this parameter drift.",

keywords = "n/a OA procedure",

author = "H. Berghuis and P. L{\"o}hnberg and H. Nijmeijer",

year = "1991",

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doi = "10.1016/B978-0-08-041276-4.50031-5",

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series = "IFAC Symposia Series",

publisher = "International Federation of Automatic Control",

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note = "3rd IFAC Symposium on Robot Control, SYROCO 1991, SYROCO ; Conference date: 16-09-1991 Through 18-09-1991",

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Berghuis, H, Löhnberg, P & Nijmeijer, H 1991, Adaptive 'PD+' control of rigid robot manipulators. in Robot Control 1991: Selected Papers from the 3rd IFAC/IFIP/IMACS Symposium, Vienna, Austria, 16–18 September 1991. IFAC Symposia Series, International Federation of Automatic Control, pp. 459-464, 3rd IFAC Symposium on Robot Control, SYROCO 1991, Vienna, Austria, 16/09/91. https://doi.org/10.1016/B978-0-08-041276-4.50031-5

Adaptive 'PD+' control of rigid robot manipulators. / Berghuis, H.; Löhnberg, P.; Nijmeijer, H.
Robot Control 1991: Selected Papers from the 3rd IFAC/IFIP/IMACS Symposium, Vienna, Austria, 16–18 September 1991. International Federation of Automatic Control, 1991. p. 459-464 (IFAC Symposia Series).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Adaptive 'PD+' control of rigid robot manipulators

AU - Berghuis, H.

AU - Löhnberg, P.

AU - Nijmeijer, H.

N1 - Conference code: 3

PY - 1991/9/16

Y1 - 1991/9/16

N2 - Two adaptive trajectory tracking controllers for rigid robot manipulators are presented. These controllers are characterized by three parts, a linear PD part, a nonlinear PD part, and a nonlinear model based part. Asymptotic trajectory tracking can be guaranteed for the closed loop system under quite general conditions on the linear controller gains. Both controllers have the property that they reduce to gravitation compensation and PD control in the particular case of position control. An interesting consequence of this property is that the presented controllers are robust to noise on the velocity measurements, which usually causes parameter drift. This feature of the controllers is demonstrated in a simulation study of a two DOF robot system, in which it is also shown that a well-known adaptive tracking controller from literature suffers from this parameter drift.

AB - Two adaptive trajectory tracking controllers for rigid robot manipulators are presented. These controllers are characterized by three parts, a linear PD part, a nonlinear PD part, and a nonlinear model based part. Asymptotic trajectory tracking can be guaranteed for the closed loop system under quite general conditions on the linear controller gains. Both controllers have the property that they reduce to gravitation compensation and PD control in the particular case of position control. An interesting consequence of this property is that the presented controllers are robust to noise on the velocity measurements, which usually causes parameter drift. This feature of the controllers is demonstrated in a simulation study of a two DOF robot system, in which it is also shown that a well-known adaptive tracking controller from literature suffers from this parameter drift.

KW - n/a OA procedure

U2 - 10.1016/B978-0-08-041276-4.50031-5

DO - 10.1016/B978-0-08-041276-4.50031-5

M3 - Conference contribution

SN - 978-0-08-041276-4

T3 - IFAC Symposia Series

SP - 459

EP - 464

BT - Robot Control 1991

PB - International Federation of Automatic Control

T2 - 3rd IFAC Symposium on Robot Control, SYROCO 1991

Y2 - 16 September 1991 through 18 September 1991

ER -

Adaptive 'PD+' control of rigid robot manipulators

Abstract

Publication series

Conference

Keywords

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Research output

Adaptive 'PD+' control of rigid robot manipulators

Cite this